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公开(公告)号：US20220388174A1
公开(公告)日：2022-12-08
申请号：US17805101
申请日：2022-06-02
Applicant: Boston Dynamics, Inc.
Inventor： Christopher Stathis , Dion Gonano , Robert Eugene Paolini , Adam Komoroski
IPC: B25J9/16
Abstract: A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The operations include receiving a sensor pointing command that commands the robot to use a sensor to capture sensor data of a location in an environment of the robot. The sensor is disposed on the robot. The operations include determining, based on an orientation of the sensor relative to the location, a direction for pointing the sensor toward the location, and an alignment pose of the robot to cause the sensor to point in the direction toward the location. The operations include commanding the robot to move from a current pose to the alignment pose. After the robot moves to the alignment pose and the sensor is pointing in the direction toward the location, the operations include commanding the sensor to capture the sensor data of the location in the environment.
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公开(公告)号：US20230419546A1
公开(公告)日：2023-12-28
申请号：US18335661
申请日：2023-06-15
Applicant: Boston Dynamics, Inc.
Inventor： Christopher Christopher , Dion Gonano
CPC classification number: G06T7/85 , G06V10/255 , G06T7/70 , G06T2207/30244
Abstract: Methods and apparatus for online camera calibration are provided. The method comprises receiving a first image captured by a first camera of a robot, wherein the first image includes an object having at least one known dimension, receiving a second image captured by a second camera of the robot, wherein the second image includes the object, wherein a field of view of the first camera and a field of view of the second camera at least partially overlap, projecting a plurality of points on the object in the first image to pixel locations in the second image, and determining, based on pixel locations of the plurality of points on the object in second image and the projected plurality of points on the object, a reprojection error.
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公开(公告)号：US12172537B2
公开(公告)日：2024-12-24
申请号：US17644696
申请日：2021-12-16
Applicant: Boston Dynamics, Inc.
Inventor： Dion Gonano , Eric Cary Whitman , Christopher Stathis , Matthew Jacob Klingensmith
Abstract: A computer-implemented method when executed by data processing hardware of a legged robot causes the data processing hardware to perform operations including receiving sensor data corresponding to an area including at least a portion of a docking station. The operations include determining an estimated pose for the docking station based on an initial pose of the legged robot relative to the docking station. The operations include identifying one or more docking station features from the received sensor data. The operations include matching the one or more identified docking station features to one or more known docking station features. The operations include adjusting the estimated pose for the docking station to a corrected pose for the docking station based on an orientation of the one or more identified docking station features that match the one or more known docking station features.
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公开(公告)号：US20220194245A1
公开(公告)日：2022-06-23
申请号：US17644696
申请日：2021-12-16
Applicant: Boston Dynamics, Inc.
Inventor： Dion Gonano , Eric Cary Whitman , Christopher Stathis , Matthew Jacob Klingensmith
Abstract: A computer-implemented method when executed by data processing hardware of a legged robot causes the data processing hardware to perform operations including receiving sensor data corresponding to an area including at least a portion of a docking station. The operations include determining an estimated pose for the docking station based on an initial pose of the legged robot relative to the docking station. The operations include identifying one or more docking station features from the received sensor data. The operations include matching the one or more identified docking station features to one or more known docking station features. The operations include adjusting the estimated pose for the docking station to a corrected pose for the docking station based on an orientation of the one or more identified docking station features that match the one or more known docking station features.
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